X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/8ea481ad5931ed9e87fee78aec600ce2b1b26a99..946402eb985845f19ec586c17883426bf1a49743:/src/rrtext20.cc

diff --git a/src/rrtext20.cc b/src/rrtext20.cc
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--- /dev/null
+++ b/src/rrtext20.cc
@@ -0,0 +1,55 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Jiri Vlasak
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <cassert>
+#include "rrtext.hh"
+
+namespace rrts {
+
+bool
+RRTExt20::collide_steered()
+{
+	assert(this->_points_to_check != nullptr);
+	std::vector<bcar::Point> points_to_check(*this->_points_to_check);
+	unsigned int i = 0;
+	for (auto &n: this->steered_) {
+		for (auto &p: points_to_check) {
+			Point const n_p(n);
+			CarSize const n_cs(this->bc());
+			if (p.inside_of(n_p, n_cs.edist_to_rr())) {
+				break;
+			}
+			if (p.edist(n_p) < n_cs.edist_to_lf()
+					&& p.edist(n_p) > n_cs.edist_to_rr()) {
+				BicycleCar n_bc(this->bc());
+				n_bc.x(n.x());
+				n_bc.y(n.y());
+				n_bc.h(n.h());
+				std::vector<Point> poly;
+				poly.push_back(n_bc.lf());
+				poly.push_back(n_bc.lr());
+				poly.push_back(n_bc.rr());
+				poly.push_back(n_bc.rf());
+				poly.push_back(n_bc.lf());
+				if (p.inside_of(poly)) {
+					break;
+				}
+
+			}
+		}
+		i++;
+	}
+	this->steered_.erase(this->steered_.begin() + i, this->steered_.end());
+	return this->steered_.size() == 0;
+}
+
+void
+RRTExt20::set_points_to_check(std::vector<bcar::Point> const *p)
+{
+	this->_points_to_check = p;
+}
+
+} /* namespace rrts */